/**
*  @file 
*  @ingroup plat_engineering
**/

#ifdef __cplusplus
extern "C"
{
#endif

UBYTE controller_GetMode();

void controller_SetModeFreeDrift(void);
void controller_SetModeStationKeep(WAYPT wpt);
void controller_SetModeManual(BYTE rud, BYTE thr);
void controller_SetModeHeadingHold(WORD hdg, BYTE thr);
void controller_SetModeWaypoint(WAYPT wp1,WAYPT wp2);
void controller_SetModeCalibrate(void);

void controller_Init(WAYPT wpt,UBYTE md,BYTE rud,BYTE thr,WORD hdg);
void controller_InitDefault(void);

int controller_Start();

void controller_GetStatus(STATUS *s);
void controller_InitStatus(STATUS *s);

void controller_DealWithWaypoints(STATUS *s);


#ifdef __cplusplus
}
#endif

